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Updated Source menu, sorted RGB-D choices by sensor type

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Fixed openni from opencv available() method

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1365 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-14 17:01:14 +00:00
parent c2f6439567
commit 81b3b49f97
3 changed files with 37 additions and 22 deletions
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corelib/src/Camera.cpp
+1 -3
View File
@@ -390,8 +390,7 @@ void CameraVideo::captureImage(cv::Mat & rgb, cv::Mat & depth, float & depthCons
/////////////////////////
bool CameraRGBD::available()
{
printf("\nOpencV build: \n", cv::getBuildInformation().c_str());
return true;
return cv::getBuildInformation().find("OpenNI: YES") != std::string::npos;
}
CameraRGBD::CameraRGBD(float imageRate, bool asus) :
@@ -428,7 +427,6 @@ bool CameraRGBD::init()
UINFO("BASELINE %f mm", _capture.get( CV_CAP_PROP_OPENNI_BASELINE ));
UINFO("FPS %f", _capture.get( CV_CAP_PROP_FPS ));
UINFO("Focal %f", _capture.get( CV_CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH ));
UINFO("Focal2 %f", _capture.get( CV_CAP_PROP_OPENNI_FOCAL_LENGTH ));
UINFO("REGISTRATION %f", _capture.get( CV_CAP_PROP_OPENNI_REGISTRATION ));
if(_capture.get( CV_CAP_PROP_OPENNI_REGISTRATION ) == 0.0)
{
guilib/src/MainWindow.cpp
+4 -11
View File
@@ -278,15 +278,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
#endif
//Settings menu
QActionGroup * selectSourceImageGrp = new QActionGroup(this);
selectSourceImageGrp->addAction(_ui->actionUsbCamera);
selectSourceImageGrp->addAction(_ui->actionImageFiles);
selectSourceImageGrp->addAction(_ui->actionVideo);
selectSourceImageGrp->addAction(_ui->actionOpenNI);
selectSourceImageGrp->addAction(_ui->actionFreenect);
selectSourceImageGrp->addAction(_ui->actionOpenNI_CV);
selectSourceImageGrp->addAction(_ui->actionOpenNI_CV_ASUS);
selectSourceImageGrp->addAction(_ui->actionOpenNI2);
this->updateSelectSourceImageMenu(_preferencesDialog->getSourceImageType());
connect(_ui->actionImageFiles, SIGNAL(triggered()), this, SLOT(selectImages()));
connect(_ui->actionVideo, SIGNAL(triggered()), this, SLOT(selectVideo()));
@@ -294,7 +285,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
this->updateSelectSourceDatabase(_preferencesDialog->isSourceDatabaseUsed());
connect(_ui->actionDatabase, SIGNAL(triggered()), this, SLOT(selectDatabase()));
this->updateSelectSourceRGBDMenu(_preferencesDialog->isSourceOpenniUsed(), _preferencesDialog->getSourceRGBD());
connect(_ui->actionOpenNI, SIGNAL(triggered()), this, SLOT(selectOpenni()));
connect(_ui->actionOpenNI_PCL, SIGNAL(triggered()), this, SLOT(selectOpenni()));
connect(_ui->actionOpenNI_PCL_ASUS, SIGNAL(triggered()), this, SLOT(selectOpenni()));
connect(_ui->actionFreenect, SIGNAL(triggered()), this, SLOT(selectFreenect()));
_ui->actionFreenect->setEnabled(CameraFreenect::available());
connect(_ui->actionOpenNI_CV, SIGNAL(triggered()), this, SLOT(selectOpenniCv()));
@@ -1842,7 +1834,8 @@ void MainWindow::updateSelectSourceDatabase(bool used)
void MainWindow::updateSelectSourceRGBDMenu(bool used, PreferencesDialog::Src src)
{
_ui->actionOpenNI->setChecked(used && src == PreferencesDialog::kSrcOpenNI_PCL);
_ui->actionOpenNI_PCL->setChecked(used && src == PreferencesDialog::kSrcOpenNI_PCL);
_ui->actionOpenNI_PCL_ASUS->setChecked(used && src == PreferencesDialog::kSrcOpenNI_PCL);
_ui->actionFreenect->setChecked(used && src == PreferencesDialog::kSrcFreenect);
_ui->actionOpenNI_CV->setChecked(used && src == PreferencesDialog::kSrcOpenNI_CV);
_ui->actionOpenNI_CV_ASUS->setChecked(used && src == PreferencesDialog::kSrcOpenNI_CV_ASUS);
guilib/src/ui/mainWindow.ui
+32 -8
View File
@@ -80,7 +80,7 @@
</property>
<widget class="QMenu" name="menuImage">
<property name="title">
<string>Image</string>
<string>Image-only</string>
</property>
<addaction name="actionUsbCamera"/>
<addaction name="actionImageFiles"/>
@@ -90,15 +90,28 @@
<property name="title">
<string>RGB-D camera</string>
</property>
<addaction name="actionOpenNI"/>
<addaction name="actionFreenect"/>
<addaction name="actionOpenNI_CV"/>
<addaction name="actionOpenNI_CV_ASUS"/>
<addaction name="actionOpenNI2"/>
<widget class="QMenu" name="menuKinect_for_Xbox_360">
<property name="title">
<string>Kinect for Xbox 360</string>
</property>
<addaction name="actionOpenNI_PCL"/>
<addaction name="actionFreenect"/>
<addaction name="actionOpenNI_CV"/>
</widget>
<widget class="QMenu" name="menuXtion_PRO_LIVE">
<property name="title">
<string>Xtion PRO LIVE</string>
</property>
<addaction name="actionOpenNI_PCL_ASUS"/>
<addaction name="actionOpenNI2"/>
<addaction name="actionOpenNI_CV_ASUS"/>
</widget>
<addaction name="menuKinect_for_Xbox_360"/>
<addaction name="menuXtion_PRO_LIVE"/>
</widget>
<addaction name="menuRGB_D_camera"/>
<addaction name="menuImage"/>
<addaction name="actionDatabase"/>
<addaction name="menuRGB_D_camera"/>
</widget>
<addaction name="menuSelect_source"/>
<addaction name="separator"/>
@@ -981,7 +994,7 @@
<string>Take a screenshot</string>
</property>
</action>
<action name="actionOpenNI">
<action name="actionOpenNI_PCL">
<property name="checkable">
<bool>true</bool>
</property>
@@ -1014,10 +1027,21 @@
</property>
</action>
<action name="actionOpenNI2">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>OpenNI2</string>
</property>
</action>
<action name="actionOpenNI_PCL_ASUS">
<property name="checkable">
<bool>true</bool>
</property>
<property name="text">
<string>OpenNI-PCL</string>
</property>
</action>
</widget>
<customwidgets>
<customwidget>